Topographic spot scanning for a storage library

ABSTRACT

Systems and methods are described for using topographic and/or contrast spot scanning to facilitate various types of functionality in context of a data storage library. A robotic mechanism includes a hand assembly that has one or more integrated spot scanners. The hand assembly is configured to travel in at least two directions and to rotate, thereby locating and/or pointing the spot scanner in desired locations throughout the data storage library. By sweeping the spot scanner across a scan window, contrast and/or topographic data can be acquired and decoded to generate a profile of a region. The profile can be interpreted to facilitate functions, such as calibration of robot location with respect to media cartridges, targeting, proximity detection, empty cell detection, etc.

FIELD

Embodiments relate generally to data storage systems, and, moreparticularly, to use of spot scanners for targeting, location, symbolrecognition, and/or the like in storage libraries.

BACKGROUND

Storage library systems are often used by enterprises and the like toefficiently store and retrieve data from storage media. In the case ofsome storage libraries, the media are data cartridges (e.g., tapecartridges) that are typically stored and indexed within a set ofmagazines. When particular data is requested, a specialized roboticmechanism finds the appropriate cartridge, removes the cartridge fromits magazine, and carries the cartridge to a drive that is designed toreceive the cartridge and read its contents. Some storage libraries havemultiple drives that can operate concurrently to perform input/output(IO) operations on multiple cartridges.

Operation of the robotic mechanism in the context of a data storagesystem, typically involves a number of different location related tasks.For example, the robotic mechanism may be used for targeting of specificlocations within the data storage system, for performing pick and placeoperations on media cartridges, for reading barcodes and/or othersymbols or features, for auditing the existence and/or absence of mediacartridges in magazines or drives, etc. Each of these and otheroperations can be frustrated when location-related errors are introducedinto the environment, if proper corrective feedback is not provided. Forexample, errors can easily be introduced into the system from physicaljarring or manipulation of components, from compounding of errorsinherent in electronic components, etc.

Many different techniques are used in an attempt to account for theseerrors and to accurately locate, or determine the location of, therobotic mechanism or its constituent features in the context of thestorage library. Various implementations use stepper motors, physicalstops, electromechanical sensors, electro-optical sensors, and/or othertechniques. For example, the carriage may move until it detects via oneor more sensors that it has reached a desired location. Traditionalimplementations use a number of different sensors and other location andfeedback techniques to provide all the different functionality desiredfrom the robotic mechanism, including scanning and location-relatedtasks. This may involve integrating large numbers of components, whichcan add complexity, cost, and weight, while also potentially increasingthe rate of failure.

BRIEF SUMMARY

Among other things, systems and methods are described for providingtopographic scanning using a spot scanners to provide functionality,such as calibration of robot location with respect to media cartridges,targeting, proximity detection, empty cell detection, etc. Someembodiments operate in context of a data storage library having arobotic mechanism that finds, picks, and places media cartridges inmagazines and/or media drives. The robotic mechanism includes a handassembly that has one or more integrated spot scanners (e.g.,implemented as a vertical-cavity surface-emitting laser (VCSEL)). Thehand assembly is configured to travel in at least two directions and torotate, thereby locating and/or pointing the spot scanner in desiredlocations throughout the data storage library. Embodiments use the handassembly to point and sweep the spot scanner across the scan window tocollect topographic data (i.e., depth information over a series oflocations). The topographic data is decoded to generate a topographicprofile, which can be used to facilitate functionality, such as locationand/or identification of geometric features of magazines, mediacartridges, media drives, etc.

According to one set of embodiments, a system is provided fortopographic targeting in a data storage system. The system includes aspot scanner, a processor, a decoder, and a target profile store. Thespot scanner is coupled with a carriage and configured to sweep the spotscanner in a scan direction to acquire raw topographic data indicating adepth at each of a plurality of locations within a scan window. Theprocessor is in communication with the spot scanner and is configuredto: receive a request for topographic scanning of a target; acquire atarget model according to the request; acquire scanner settingsassociated with the target model; and direct the spot scanner to acquirethe raw topographic data according to the request and according to thescanner settings. The decoder is in communication with the processor andis configured to: decode the raw topographic data to generate a targetprofile for a purported target within the scan window, the targetprofile comprising a scanned target type and scanned target location;and determine whether the target profile is valid according to thetarget model. The target profile store is in communication with thedecoder and is configured to store a verified target record for thetarget including the scanned target type and the scanned target locationof the purported target when the target profile is valid according tothe target model.

According to another set of embodiments, a method is provided fortopographic targeting in a data storage system. The method includes:acquiring a target model and expected target location; generating a scanwindow according to the expected target location; sweeping a spotscanner across the scan window to acquire raw topographic dataindicating a depth at each of a plurality of locations within the scanwindow; decoding the raw topographic data to generate a target profilefor a target within the scan window, the target profile comprising ascanned target type and scanned target location; determining whether thetarget profile is valid according to the target model; and storing, whenthe target profile is valid according to the target model, a verifiedtarget record for the target including the scanned target type and thescanned target location.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is described in conjunction with the appendedfigures:

FIG. 1 shows a block diagram of an illustrative rack-mounted storagelibrary, to provide a context for various embodiments;

FIGS. 2A and 2B show rear and front views, respectively, of anillustrative base module, according to various embodiments;

FIGS. 3A and 3B show rear and front views, respectively, of anillustrative expansion module, according to various embodiments;

FIG. 4A shows a view looking down on the underside of an illustrativerobot CRU (customer replaceable unit), according to various embodiments;

FIG. 4B shows another view looking up at the underside of anillustrative robot CRU with the Z-platform assembly partially lowered,according to various embodiments;

FIG. 5 shows a simplified block diagram that includes an illustrativehand assembly 420, according to various embodiments;

FIG. 6A shows an illustrative module (e.g., a robot CRU) configured toprovide spot scanner functionality, according to various embodiments;

FIG. 6B shows a top-down view of an illustrative module, which may beanother view of module of FIG. 6A;

FIG. 7 shows a close-up view of a partial module environment, such aswithin the module of FIG. 6A or 6B;

FIGS. 8A-8C show simplified views of an illustrative spot scannerimplemented as a VCSEL pointing at different scan angles, according tovarious embodiments;

FIG. 9 shows a flow diagram of an illustrative method for using a spotscanner in a data storage system, according to various embodiments;

FIG. 10 shows a flow diagram of an illustrative method for performingtopographic spot scanning, according to various embodiments;

FIG. 11 shows a flow diagram of an illustrative method for performingcontrast spot scanning, according to various embodiments.

In the appended figures, similar components and/or features may have thesame reference label. Further, various components of the same type maybe distinguished by following the reference label by a second label thatdistinguishes among the similar components. If only the first referencelabel is used in the specification, the description is applicable to anyone of the similar components having the same first reference labelirrespective of the second reference label.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forth toprovide a thorough understanding of the present invention. However, onehaving ordinary skill in the art should recognize that the invention maybe practiced without these specific details. In some instances,circuits, structures, and techniques have not been shown in detail toavoid obscuring the present invention.

For the sake of context, FIG. 1 shows a rack-mounted storage library 100for use with various embodiments. The storage library 100 includes abase module 110 and one or more expansion modules 120, configured to bemounted in an equipment rack 130 (only the mounting rails of theequipment rack 130 are shown for simplicity). The base module 110 andexpansion modules 120 provide physical storage for multiple storagemedia cartridges (e.g., tape cartridges) in magazines 140. Embodimentsalso include one or more media drives (e.g., tape drives), controllers,power supplies, indicators, communications subsystems, and/or otherfunctions. As will be discussed more fully below, the storage library100 also includes a robotic mechanism for finding and ferrying storagemedia cartridges between locations within the storage library 100 (e.g.,magazines 140 and drives).

According to an illustrative embodiment, the storage library 100 is asmall, rack-mounted, automated tape library. The base module 110 is “3RU” high (three standard rack units, or approximately 5.25-inch high)and includes one robotic mechanism. Up to nine additional, “2 RU” high(approximately 3.5-inch high) expansion modules 120 can be added toprovide additional drive and/or magazine 140 slot capacity, so that amaximum configuration of one base module 110 and nine expansion modules120 has a total height of “21 RU,” or half of a standard equipment rack130. The single robot mechanism is configured to access all magazine 140slots and drives in the base module 110 and all expansion modules 120.

In the illustrative embodiment, each of the base module 110 and theexpansion modules 120 can house up to two half-height or one full-heightLTO5 tape drives. Each of the base module 110 and the expansion modules120 can also house two removable magazines 140, each having fifteencartridge slots. In some implementations, the storage library 100 can bedivided into partitions each associated with, for example, at least onedrive and at least one magazine 140. Each partition can be configured tobehave as an independent library, notwithstanding that all partitionsshare the single robotic mechanism (e.g., partitions can be commanded asindependent libraries for tape operations, while sharing many resourcesfor service and administration). Some implementations also include a“mailslot” 145 in the base module 110, as discussed below.

Some embodiments provide local and remote management of variousfunctions through graphical user interfaces (GUI). In oneimplementation, the local interface GUI is displayed on a seven-inch,front-mounted, touch-screen panel display 150. The remote interface maybe implemented as a browser-based interface (BUI), accessible byconnecting a web browser to the library's Internet protocol (IP)address.

Some embodiments are configured to be installable and serviceable by endcustomers to the greatest extent practical. For example, an installationwizard may be provided to simplify initial installation, a simple rackrail system for base modules 110 and expansion modules 120 will allowtwo people without any mechanical assistance (e.g. lift) to easilyinstall the modules on an equipment rack 130. In some such embodiments,most replaceable library components will be Customer Replaceable Units(CRUs) (i.e., as opposed to field replaceable units (FRUs), which areserviceable and/or replaceable only by trained technicians). Forexample, certain implementations allow almost all installation,maintenance, upgrades, and/or normal use of the storage library 100 tobe performed with only front and rear access to the equipment rack 130and few or no tools.

FIGS. 2A and 2B show rear and front views, respectively, of anillustrative base module 110′, according to various embodiments. Theillustrative base module 110′ may be an implementation of base module110 of FIG. 1. As shown, the base module 110′ includes a housing 203(e.g., a chassis) configured with rack mounts 205 for mounting to anequipment rack (e.g., as shown in FIG. 1). A rear face 207 and a frontface 209 are also shown as part of the housing 203. As discussed above,embodiments such as the one illustrated as base module 110′, aredesigned to facilitate customer serviceability. Accordingly, most of thereplaceable components are shown as accessible from the front and rearexterior of the base module 110′, which would be substantially exposedwhen mounted in a standard equipment rack.

Looking at the rear view of the base module 110′ in FIG. 2A, access isprovided to a robot CRU 210, one or more drive CRUs 220, and one or morepower supply CRUs 230. As will be described more fully below, the robotCRU 210 is configured to house the robotic mechanism and supportingcomponents (e.g., mechanical drive modules, control hardware andsoftware modules, configuration memory, etc.). Traditional storagelibrary systems typically are configured so that the robotic mechanismsare only serviceable by highly trained personnel, and even removing themechanism to send out for off-site servicing requires training,specialized tools, or the like. The ability to replace the entirerobotic mechanism and all its supporting components in a single CRU is anovel improvement over traditional implementations. For example,implementations allow a customer to simply pop out a broken robot CRU210 using a couple of thumb screws, slide in a replacement CRU, andreinitialize the system, without waiting for a technician totroubleshoot and fix any issues.

Embodiments of the drive CRUs 220 are media drive modules that can beremoved by an end consumer. Various implementations support standard,half-height or full-height tape drives. As described more fully below,the port in the drive for receiving a media cartridge faces into thebase module 110′, so that media cartridges can only be inserted and/orremoved by the robotic mechanism within the confines of the housing 203.In some implementations, one or more “external” media drives may beprovided to facilitate troubleshooting and the like.

Embodiments of the power supply CRUs 230 include any useful type ofpower supply components for supplying power to the base module 110′ andor to any other components (e.g., to one or more expansion modules 120(not shown)). For example, the power supply CRUs 230 can include powergenerators, power converters, power conditioners, back-up batteriesand/or other power duplication, switches, input and/or output ports,indicators, and the like. In some implementations, each power supply CRU230 includes a male, three-prong connector for interfacing with linepower and a main power switch. Some embodiments include a power supplyCRU 230 for each drive CRU 220 (i.e., if the base module 110′ has only asingle drive CRU 220, it may also only have a single power supply CRU230 to support the drive). In other embodiments, a second power supplyCRU 230 is used as a backup supply to the first power supply CRU 230,and may be coupled with a different power source.

In one implementation, the base module 110′ has slots for two powersupplies (e.g., two power supply CRUs 230). These can be implemented ascustom power supplies, for example, having an input voltage of 100-250volts AC at 50-60 Hertz, and an output voltage of twelve volts DCswitched plus five volts DC standby power. For example, the powersupplies may be sized to run two tape drives plus robotics and any othersensors, etc. (e.g., with or without redundancy). Typically, the basemodule 110′ has at least one power supply, even if no drives areincluded, to support the main processor, interface functionality (e.g.,the display 150), etc.

Looking at the front view of the base module 110′ in FIG. 2B, access isprovided to a display 150, one or more magazines 140, and a mailslot145. One or more indicators 255 may also be provided to show certainoperational states, and the like (note that the sizes, numbers,positions, etc. of the indicators shown are intended only to beillustrative). In various implementations, base module 110 has overalllibrary status indicators on the front and back of the module, alongwith a locate switch which activates the front and back locate LEDs;powered CRUs may have their own status indicators; hot-swappable CRUscan have indicators that show when the CRUs can be safely removed; powersupplies and tape drives can have additional indicators; an “AC present”indicator can be provided to stay on even when the storage library isoff (as long as AC power is connected). In one embodiment, a set ofprimary indicators include “locate,” “fault,” and “OK” indications. Nextto the primary indicators are secondary indicators specific for theoperator panel that indicate the status of the operator panel (e.g., anoperator panel CRU, if implemented as such).

Other types of indications and status can also be provided using thedisplay 150. Embodiments of the display 150 are used to facilitatevarious functionality through a local graphical user interface (GUI),including, for example, 10 functions, service and diagnostic functions,etc. In one implementation, the display 150 is a seven-inch,front-mounted, touch-screen panel (e.g., an LCD touch panel display witha WVGA (wide VGA) 800×480 pixel screen equipped with a resistive orcapacitive touch-sensitive overlay).

Each magazine 140 can be configured to hold multiple (e.g., up tofifteen) cartridges in such a way as to be reliably accessed by therobotic mechanism. For example, the magazines 140 can be designed tohave features to aid in targeting, location, and or other functions ofthe robotic mechanism; features that securely hold the cartridges inplace, while allowing for easy release of the cartridges to a roboticgripper when desired; features to add strength to the magazines 140(e.g., to reduce sag, increase usable life, etc.) and/or to reduceweight; etc.

Embodiments of the mailslot 145 (or “Cartridge Access Port” (CAP))include a special type of magazine designed to act as a controlledinterface between the human user and the robotic mechanism. To add orremove cartridges from the storage library, a user ejects the mailslot145 from the base module 110′ and is presented with a number ofcartridge slots (e.g., four “Import/Export cells” (“I/E cells”)). Theuser can then insert cartridges into, or remove cartridges from, theseslots without interfering with robotic mechanism's operations. In someimplementations, the robotic mechanism is used to activate a latchinternal to the base module 110, thereby allowing the user to remove themailslot 145 only when the robotic mechanism is in an appropriatecondition (e.g., parked in the robot CRU 210). Certain embodimentshaving data partitions (as discussed above) only allow one partition ata time to make use of the mailslot 145.

FIGS. 3A and 3B show rear and front views, respectively, of anillustrative expansion module 120′, according to various embodiments.The illustrative expansion module 120′ may be an implementation ofexpansion module 120 of FIG. 1. As shown, the expansion module 120′includes a housing 303 (e.g., a chassis) configured with rack mounts 305for mounting to an equipment rack (e.g., as shown in FIG. 1). A rearface 307 and a front face 309 are also shown as part of the housing 303.As with the base module 110′ of FIGS. 2A and 2B, the expansion module120′ is designed to facilitate customer serviceability. Most of thereplaceable components are shown as accessible from the front and rearexterior of the expansion module 120′, which would be substantiallyexposed when mounted in a standard equipment rack.

In the embodiment shown, various aspects of the expansion module 120′are similar or identical to the base module 110′. For example,embodiments of the expansion module 120′ do not typically have a robotCRU 210, display 150, or mailslot 145, as they are configured to exploitthat functionality from the base module 110′ components. However, likethe base module 110′, the expansion module 120′ includes one or moredrive CRUs 220 and one or more power supply CRUs 230 configured to beaccessed from the rear side of the expansion module 120′, and one ormore magazines 140 configured to be accessed from the front side of theexpansion module 120′. In some embodiments, the drive CRUs 220, powersupply CRUs 230, and/or magazines 140 of the expansion module 120′ arethe same as those implemented in the base module 110′.

Because of the lack of certain features in embodiments of the expansionmodule 120′ (e.g., there may be no robot CRU 210, no main processor,etc.), expansion module 120′ power requirements may be different fromthose of the base module 110. In certain implementations, the expansionmodules 120′ still have slots for two power supplies (e.g., two powersupply CRUs 230), which can be implemented as the same power suppliesused in the base module 110 (e.g., to avoid having to support or sourcemultiple types of power supplies). However, the power supplies of thebase module 110 may provide more power than is needed to runconfigurations of the expansion modules 120′. For example, a singlepower supply may be able to support an expansion module 120′ even withtwo drives, and it is possible to implement an expansion module 120′with no drives and no power supplies. Alternatively, two power suppliesmay still be used, for example, to provide redundancy.

As discussed above, the base module 110′ and expansion modules 120′include a number of components that can be designed for customerreplaceability, including the robot CRU 210, drive CRUs 220, powersupply CRUs 230, and magazines 140. It is worth noting that, even thoughthese components may be accessible and replaceable by customers,embodiments may still be configured to prevent (or mitigate) undesirableinterference with those components. As one example, those replaceablecomponents typically are installed in a physically secure manner (e.g.,using latches, thumbscrews, removable faceplates, and/or othertechniques) to provide relatively easy access when needed, whilemitigating inadvertent access (e.g., accidental removal of a magazine140 during operation). As another example, certain embodiments may allowa drive CRU 220 to be removed during operation of the storage system, solong as the drive is not actively in use (e.g., by using a drive ejector park command, or other technique). As still another example, removalof the robot CRU 210 or magazines 145 may be prevented until certainoperations have been completed (e.g., the robotic mechanism is parkedwithin the base module 110′, etc.).

Much of the functionality of storage systems, like those discussed abovewith reference to FIGS. 1-3B, is facilitated by the robotic mechanism.As discussed above, the robotic mechanism is used to locate cartridgesand ferry them between magazine slot locations and media drives. FIGS.4A and 4B illustrate two views of an illustrative robot mechanismimplemented as part of a robot CRU 210. The illustrations anddescriptions of the robotic mechanism are highly simplified andrepresent only on possible type of implementation. Accordingly, they areintended only to add clarity and context and should not be construed aslimiting the scope of the invention.

Turning to FIG. 4A, a view is shown looking down on the underside of anillustrative robot CRU 210′, according to various embodiments. The robotCRU 210′ may be an implementation of the robot CRU 210 of a base module110, as discussed with reference to FIG. 2A. The robot CRU 210′ includesa chassis 405 that houses a Z-platform assembly 410, an X-drive assembly415, a hand assembly 420, a Z-drive assembly 425, and a robot controlassembly 430.

In the implementation shown, the robotic mechanism is configured to movefrom its “home” position in the robot CRU 210′ of the base module 110′down and/or over to any magazine 145 slot or drive in the base module110′ or an expansion module 120′. To accomplish this type of motion, thehand assembly 420 of the robotic mechanism moves in at least a “Z”direction (for the sake of FIGS. 4A and 4B, the +Z-direction is uptowards the home position in the robot CRU 210, and the −Z-direction isdown towards the bottom-most magazine slots of the bottom-most expansionmodule 120′) and an “X” direction (for the sake of FIGS. 4A and 4B, the+X direction is towards the front side of the base module 110′ orexpansion modules 120′, and the −X direction is towards the rear side ofthe base module 110′ or expansion modules 120′).

The hand assembly 420 is coupled with the Z-platform assembly 410, whichcan be moved in the Z-direction (i.e., raised and lowered) by theZ-drive assembly 425. The hand assembly 420 is also able to move alongthe Z-drive assembly 425 in the X-direction by the X-drive assembly 415(e.g., along rails that are substantially perpendicular to theZ-directional axis). The Z-drive assembly 425 and X-drive assembly 415may include any hardware for providing the desired movements, such ascables, gears, belts, rails, wheels, bearings, etc. Embodiments provideother types of motion in other ways. Some embodiments of the handassembly 420 are coupled to the Z-platform assembly 410 via a “wrist”mechanism (e.g., shown as axis 650 of FIG. 6B below) that providesmotion in a yaw direction (i.e., around the Z-directional axis). Someembodiments of the hand assembly 420 further provide radial movementfrom the Z-directional axis. For example, a grabber mechanism can “reachout” in a radial direction that is determined by the yaw (rotational)orientation provided by the wrist mechanism.

These various types of motion of the robotic mechanism, as well as otherfunctionality of the robotic mechanism, are handled at least in part bythe robot control assembly 430. Embodiments of the robot controlassembly 430 are effectively the “brains” of the robotic mechanism,including electronic components used to store calibration informationfor the robotic mechanism, control movements of the robotic mechanism,read and/or decipher sensor information retrieved from the roboticmechanism, etc. For example, if data from a particular cartridge isdesired, the robot control assembly 430 may direct the robotic mechanismto move to the magazine slot associated with that cartridge, verifypresence of the cartridge, retrieve the cartridge from the magazine,ferry the cartridge to a drive, and release the cartridge into thedrive.

For added clarity, FIG. 4B shows another view looking up at theunderside of an illustrative robot CRU 210′ with the Z-platform assembly410 partially lowered, according to various embodiments. As illustrated,the Z-platform assembly 410 may not have a solid platform, and mayinstead be implemented as a carriage having a number of structuralmembers (e.g., rails, supports, etc.). In the particular embodimentshown, the Z-drive assembly 425 includes motors and gearing that drive abullwheel. The Z-platform assembly 410 is coupled with the bullwheelusing a cable and pulley system. For example, cabling 440 is attached ateach corner of the Z-platform assembly 410. The four cables 440 passthrough pulleys and wrap around the bullwheel. Turning the bullwheel inone direction or the other adds slack to, or removes slack from, thecables 440, causing the Z-platform assembly 410 to be raised or lowered.Once in its desired Z-position (or while moving to that position), theX-drive assembly 415 can be used to move the hand assembly 420 (e.g.,along rails of the Z-platform assembly 410) to a desired X-location.Once in its desired X-Z-position (or while moving to that position), thehand assembly 420 can be turned (e.g., using a wrist mechanism) to adesired rotational orientation (e.g., to face a cartridge slot or amedia drive, to provide a desired angle for use of a sensor, etc.). Ifdesired, a gripper mechanism may then be used to reach out (i.e.,radially) from that X-Z-position and rotational orientation (e.g., tograb or release a cartridge).

It will be appreciated that the Z-drive assembly 425, the X-driveassembly 415, and other mechanisms are configured to move the handassembly 420 to desired locations around the data storage system. Inmany cases, it is desirable to accurately position the hand assembly 420and/or to accurately know the position of the hand assembly 420. Forexample, components of the hand assembly 420 can be used forcalibration, targeting, location, pick and place operations, empty celldetection, barcode reading, feature identification, etc. Some or all ofthese uses involve knowing the location of one or more components of thehand assembly 420 in context of one or more features or components ofthe data storage system.

Embodiments described herein include one or more spot scannersintegrated with the hand assembly 420. It will be appreciated that,while these embodiments are described with reference specifically to ahand assembly 420, much of the functionality of the spot scanners usesthe hand assembly 420 as a carriage. Accordingly, similar or identicaltechniques can be applied in other environments having a carriage (e.g.,regardless of whether other functions of the hand assembly are present)without departing from the scope of the embodiments. As such, specificreferences to the hand assembly 420 and/or other components specific tothe data storage system are intended only to provide context and shouldnot be construed as limiting the scope of the embodiments.

As will be described more fully below, embodiments use the one or morespot scanners in novel ways to acquire topographic and/or contrastinformation, which can be decoded to facilitate various desiredfunctions. For example, the hand assembly 420 can be used as a carriageto sweep a spot scanner across a scan window recording topographic datato generate a two-dimensional or three-dimensional topographic profileof a region within the window. The topographic profile can beinterpreted to facilitate location, validation, and/or recognition ofgeometric features. In various implementations, the information can thenbe fed forward (e.g., for location or identification of a mediacartridge, carriage slot location, media drive slot location, etc.) orfed back (e.g., for location of the hand assembly 420 or spot scanneritself).

FIG. 5 shows a simplified block diagram 500 that includes anillustrative hand assembly 420, according to various embodiments. Thehand assembly 420 has a number of functional blocks, including one ormore spot scanners 510, a processor module 528, decoder module 530, adriver module 540, and one or more data stores. For example, asillustrated, the hand assembly 420 can include a scanner model datastore 515 and a target profile data store 535. In some embodiments, thehand assembly 420 is in communication with a controller module 550. Forexample, the controller module 550 is the main processor of the datastorage system, or any other controller external to, or integrated with,the hand assembly 420 or the robotic mechanism. In some implementations,some or all of the processing functionality is removed from the handassembly 420. For example, the processor module 520 and/or the decodermodule 530 can be implemented as functionality of the controller module.Further, any or all of the processor module 520, decoder module 530, andcontroller module 550 can be implemented in hardware and/or software,according to various embodiments. For example, the functionality ofthose component blocks can be implement it as instructions (e.g.,software, firmware, etc.) that cause one or more processors of the datastorage system, when executed, to implement the respectivefunctionality.

As discussed above, the hand assembly 420 can be used as a carriage forthe spot scanner 510. For example, movement of the hand assembly 420 ina Z-direction, in an X direction, in a rotational direction (e.g., usinga wrist mechanism), etc. can be used to effectively move and/or pointthe spot scanner 510 at a desired location. While the hand assembly 420may perform other functions, the description focuses on functions andcomponents of the hand assembly 420 that relate to or facilitate spotscanner functionality for the sake of clarity. In some implementations,the spot scanner 510 is integrated into the hand assembly 420 in such away as to have a fixed position and/or orientation with respect to theposition and/or orientation of the hand assembly 420. Accordingly,moving the hand assembly 420 in an X direction can sweep the spotscanner 510 in the X direction, and rotating the hand assembly 420 canchange the direction in which the spot scanner 510 is pointing.

Embodiments of the spot scanner 510 are implemented as azero-dimensional scanner component. For example, some implementations ofthe spot scanner 510 include a vertical-cavity surface-emitting laser(VCSEL), which has a transmitting element and a receiving element. Thetransmitting element transmits an optical signal that reflects off of asurface and is received by the receiving element. Characteristics of thereceived signal (e.g., the timing and/or amplitude of the signal) can beused to determine proximity to the surface, color of the surface, and/orother features. It will be appreciated that, as used herein, phraseslike “spot scanner” or “zero-dimensional scanner” are intended togenerally describe a category of scanning components that transmit in aspot-like manner, as opposed to one-dimensional scanners (e.g., linescanners, barcode scanners, etc.) or higher dimensional scanners. Forexample, a transmitting element of a spot scanner may effectivelygenerate a spot-like output, even in implementations where multipletransmission elements are used.

Embodiments of the spot scanner 510 can be configured according to anumber of scanner settings. In various embodiments, the scanner settingscan include default settings, settings recorded during manufacturingand/or calibration, settings adjusted for particular tasks, etc. Forexample, the spot scanner can be adjusted to physically move atdifferent speeds, to sample data at different sampling rates, to beginsampling at a particular point after the scanner begins to move(referred to herein as a “trip point”), to begin sampling at aparticular horizontal location, to begin scanning at a particularvertical location, to follow a particular two-dimensional scanning path,to point the scanner at a particular angle with respect to the scandirection (e.g., a non-orthogonal angle), to change the transmissionintensity and/or color, etc. It will be appreciated that some of thesescanner properties are properties of the spot scanner 510 itself, whileothers of the scanner properties affect how the spot scanner 510 isused. For example, adjusting the speed at which the scanner moves may,in fact, involve adjusting the speed at which the hand assembly 420 isdriven by the driver module 540 in a particular direction. Similarly,adjustments to sampling rates, and the like, may be implemented asadjustments to functions of the processor module 520, the decoder module530, or another functional component.

In some embodiments, the driver module 540 is used to move and/or orient(e.g., rotate) the hand assembly 420, thereby moving and/or orientingthe spot scanner 510. In this way, the spot scanner 510 can be sweptacross a scan window to record scan data in one, two, or threedimensions. In one illustrative use case, the spot scanner 510 is sweptacross the scan window in a substantially linear direction to obtaincontrast data (e.g., color information) in one dimension. In anotherillustrative use case, the spot scanner 510 is swept across the scanwindow multiple times (e.g., at different Z-positions) and/or along thetwo-dimensional path to obtain contrast data into dimensions. In yetanother illustrative use case, the spot scanner 510 is swept across thescan window in a substantially linear direction to obtain topographicdata (e.g., depth information) as a two-dimensional topographic profile.In still another illustrative use case, the spot scanner 510 is sweptacross the scan window into dimensions (e.g., at multiple Z-positions,along the two-dimensional path, etc.) to obtain topographic data as athree-dimensional topographic profile.

Embodiments of the decoder module 530 are used to decode the scan dataacquired by the spot scanner 510. For example, the decoder module 530receives raw contrast data and/or raw topographic data from the spotscanner 510 and generates a contrast profile and or a topographicprofile of a region of the scan window therefrom. In someimplementations, the raw data is a set of voltage levels mapped againstone or more times or positions. The decoded data can be used in variousways to provide different types of functionality. In one illustrativeuse case, decoded scan data is used to identify an edge the geometricfeature, the start of the barcode, a particular symbol, etc. In anotherillustrative use case, a contrast profile generated by the decodermodule 530 is used to recognize a barcode or other symbol. In yetanother illustrative use case, a topographic profile generated by thedecoder module 530 is used to locate a geometric feature or is comparedto a model profile to identify a geometric feature. For example, varioustypes of targets may exist in the context of the data storage system,including magazine targets, access port targets (e.g., targets on a mailslot), media drive targets, media cassette targets, in the like. Each ofthese target types may have one or more associated geometriccharacteristics, including, for example, a target height, a targetwidth, a target depth, a target focus distance, a target surface textureparameter, a target color parameter, a target scheme (e.g.,dark-light-dark, light-dark-light, etc.), etc. By comparing thetopographic profile to geometric characteristics of one or more targettypes, the scan data can be used to identify the target type, to locatethe target, to validate the target, etc.

Various types of data can be stored in data stores (e.g., volatileand/or nonvolatile storage) to facilitate various scanner functions. Insome embodiments, decoded scan data (e.g., contrast and/or topographicprofiles generated by the decoder module 530) are stored in a targetprofile data store 535. Various embodiments store scanner settings,target types, target models (e.g., geometric characteristics of varioustarget types), and/or other data in the scanner model data store 515.The data stores may be implemented as part of the hand assembly 420, instorage systems or components in communication with the hand assembly420, or in storage systems or components in communication with theprocessor module 520, the controller module 550, or another processingcomponent.

Embodiments of the processor module 520 can be used to direct (e.g.,instruct, coordinate, interpret, etc.) functions of the other functionalblocks. For example, the processor module 520 may direct the drivermodule 540 to sweep the spot scanner 510 across the scan window toacquire scan data. The processor module 520 can facilitate communicationof the scan data to the decoder module 530, for example, at a particularsampling rate, using a particular protocol, etc. The processor module520 can further direct the decoder module 530 to decode the scan dataand to generate one or more target profiles. The target profiles can bestored by the processor module 520 in the target profile data store 535,further processed (e.g., validated against, interpreted according to,etc.) according to data from the scanner model data store 515.

For the sake of adding clarity, FIG. 6A shows an illustrative module 600a (e.g., robot CRU 210) configured to provide spot scannerfunctionality, according to various embodiments. The illustrative module600 a includes a hand assembly 410 that has two spot scanners 510.Alternative embodiments have a single spot scanner 510 or more than twospot scanners 510. As illustrated, the hand assembly 410 is oriented insuch a way that one of the spot scanners 510 a is pointing toward amagazine 610. The magazine 610 includes a number of magazine targets 615and media cartridges 620. Each media cartridge 620 is installed in anindexable slot location of the magazine 610. The media cartridges 620are shown as having barcode 625 labels. Barcodes 625 or other techniquescan be used to identify a particular media cartridge (e.g., identify itscontent by its label).

Embodiments are configured so that the hand assembly 410 can move in atleast an X-direction (e.g., horizontally with respect to the magazine610) and a Z-direction (e.g., vertically with respect to the magazine610). In some embodiments, the hand assembly 410 is further configuredto rotate about an axis. As described more fully below, embodiments areconfigured to use the spot scanners 510 to provide various types offunctionality, including, for example, targeting, location,identification, etc. For example, sweeping the spot scanner 510 across ascan window in the vicinity of the magazine target 615, topological datacan be gathered for use in locating and/or identifying the magazinetarget 615; and sweeping the spot scanner 510 across a scan window inthe vicinity of the barcode 625, contrast data can be gathered for usein identifying an associated cartridge 620.

In some embodiments, the multiple spot scanners 510 are located (e.g.,positioned, oriented, etc.) so as to provide additional functionality.According to one set of functionality, multiple spot scanners 510 arepositioned on the hand assembly 410 to allow efficient (e.g., spaceefficient) access to the full extents of the magazine slot locations.For example, as illustrated, the two spot scanners 510 are both locatedto one side of the hand assembly 410. By orienting the hand assembly 410as shown, the first spot scanner 510 a can be positioned adjacent to oneand of the magazine 610. By rotating the hand assembly 410 by180-degrees, and moving the hand assembly 410 all the way to the otherend of the magazine 610, the second spot scanner 510 b can be positionedadjacent to the other end of the magazine 610. Similarly, the first spotscanner 510 a and the second spot scanner 510 b can be positioned atdifferent Z-locations (e.g., so that one is “higher” than the other withrespect to the magazine 610). In this way, it is possible to positionone or the other spot scanner 510 at each vertical extent of themagazines 610. Notably, embodiments are able to scan acrosssubstantially the full extents of the desired area without having topoint, tilt, or otherwise redirect the spot scanners 510 to undesirablescan angles. Further, embodiments are able to scan across substantiallythe full extents of the desired area without having to expand thedimensions of the sweep area to allow portions of the hand assembly tomove appreciably past the desired target.

According to another set of functionality, multiple spot scanners 510are used in tandem to concurrently acquire data. While the illustrativemodule 600 a is shown having a magazine 610 and cartridges 620 only onone side of the module 600 a, other implementations have magazines 610and cartridges 620 on both sides of the module 600 a (i.e., the module600 a as shown may illustrate a case in which one of two magazines 610is currently installed in the module 600 a, and the other of twomagazines 610 is currently removed from the module 600 a). As the handassembly 410 moves, the spot scanners 510 are each pointed at a magazine610 on their respective sides of the module 600 a, and can be usedtogether contrast and/or topological data in tandem. In one example,wall bar codes are being read using contrast scanning of cartridges 620on one side of the module 600 a, various target locations are beingaudited (e.g., validated) using topologic scanning of magazine targets615 on the opposite side of the module 600 a. In another example,topological maps of opposite sides of the module 600 a are generatedconcurrently using topologic scanning by the two spot scanners 510operating in tandem.

FIG. 6B shows a top-down view of an illustrative module 600 b, which maybe another view of module 600 a of FIG. 6A. As illustrated, the handassembly 410 is oriented in such a way that the spot scanners arepointing at an angle with respect to primary target surfaces (i.e., thescan angle is substantially non-orthogonal to the target surface and tothe scan direction). By moving the hand assembly 410 along the rails 660(i.e., in the X-direction) and/or by rotating the hand assembly 410around axis 650, the spot scanners 510 can be positioned and/or the scanangle can be selected as desired.

FIG. 7 shows a close-up view 700 of a partial module environment, suchas within module 600 of FIG. 6A or 6B. As illustrated, the hand assembly410 is positioned so that it spot scanner 510 is directly adjacent to(i.e., pointed at, positioned next to, etc.) a barcode 625 on a mediacartridge 620. The cartridge 620 is installed in a magazine 610. Asdiscussed above, magazine targets 615 are integrated into the magazine610, for example, to assist with location, targeting, etc. usingtopological scanning techniques. The spot scanner 510 can also be sweptacross the barcode 625 and can acquire contrast data for use ininterpreting the barcode 625. It will be appreciated that many types oftargets (e.g., magazine target 615) and/or many types of identifiers(e.g. barcode 625) can be located and/or recognized using variousfunctionality provided by the spot scanner 510.

FIGS. 8A-8C show simplified views 800 of an illustrative spot scanner510 implemented as a VCSEL pointing at different scan angles 845,according to various embodiments. Turning first to FIG. 8A, the spotscanner 510 is shown pointing directly at a target 810. The target may,for example, be one of the magazine targets 615 shown in FIG. 6. Thespot scanner 510 is implemented as a VCSEL that has a spot scannertransmitter 830 any spot scanner receiver 840 noted on a circuit board820. Though not shown, the spot scanner 510 may be integrated with acarriage (e.g., hand assembly 410) configured to move the spot scanner510 in the scan direction 855 and to rotate the spot scanner 510 topoint at different angles relative to the target 810.

The spot scanner 510 is configured to transmit radiation (e.g., anoptical signal) from the spot scanner transmitter 830 in a transmissiondirection and to receive radiation reflected from the target 810 at thespot scanner receiver 840. As used herein, the “scan angle 845” is theangle between the scan direction 855 and the direction in which the spotscanner 510 is pointing. For example, in FIG. 8A, the spot scanner 510is pointing in a direction that is substantially orthogonal to the scandirection 855 (e.g., which may be substantially normal to a target 810surface). Accordingly the scan angle 845 a may be referred to as90-degrees, or alternatively, as zero-degrees out of orthogonal with thescan direction.

It is worth noting that, in a VCSEL, the spot scanner transmitter 830(and sometimes the spot scanner receiver 840) is typically angled sothat the transmission direction is not parallel to the direction inwhich the spot scanner 510 is pointing. This difference between thetransmission direction and the direction in which the spot scanner 510is pointing is illustrated as internal angle 835. Because of theinternal angle 835, the scan angle 845 may be different from the angleat which radiation is being directed at the target 810 surface.Accordingly, the effective angle at which the target 810 surface isbeing detected (referred to herein as the “detection angle 865”) isdifferent from the scan angle 845 by the value of the internal angle835. For example, if the internal angle 835 is approximatelyfour-degrees, and the scan angle 845 is approximately 90-degrees, thedetection angle 865 is approximately 86-degrees (or 94-degrees,depending on the convention used).

As such, maximum illumination of a surface that lies substantially inthe scan direction 855 may be achieved by adjusting the scan angle 845to account for the internal angle 835 so that the detection angle 865 issubstantially orthogonal to the scan direction 855. This is thecondition illustrated in FIG. 8B. As shown, the spot scanner 510 isrotated counter-clockwise to account for the internal angle 835, suchthat the scan angle 845 b is no longer orthogonal to the scan direction855, but the detection angle 865 b is orthogonal to the scan direction855. For example, if the internal angle 835 is approximatelyfour-degrees off-orthogonal in a clockwise direction, and the spotscanner 510 is rotated by four-degrees in a counter-clockwise direction;the detection angle 865 becomes approximately 90-degrees, and the scanangle 845 becomes approximately 86-degrees (or 94-degrees, depending onthe convention used). With this spot scanner transmitter 830 effectivelypointing directly at the target 810 surface, this configuration mayprovide maximum illumination to the surface.

Different results can be achieved by pointing the spot scanner 510 atother scan angles 845. Turning to FIG. 8C, the spot scanner 510 is shownrotated in a clockwise direction. In this configuration, the detectionangle 865 c is further off-orthogonal, such that a greater amount ofradiation may be deflected away from the receiver 840. Such aconfiguration may be useful in instances where it is desirable to reduceelimination of the surface, for example, in order to reduce glare inhigh-reflectivity environments. As described above, embodiments use thespot scanner 510 for both topographic and contrast scanning functions.In some embodiments, it is desirable to maximize illumination of thesurface for topographic scanning and to minimize illumination of thesurface for contrast scanning. It will be appreciated from the precedingdescription that even small changes to the scan angle 845 (e.g., byadjusting the wrist angle of the hand assembly 410 to change angle inwhich the spot scanner 510 is pointing) can appreciably affect theextent at which a target 810 surface is illuminated.

Turning to FIG. 9, a flow diagram is shown of an illustrative method 900for using a spot scanner in a data storage system, according to variousembodiments. Embodiments begin at stage 904 when a scan start-upsequence is initiated. In some embodiments, this occurs when the systemis started up. During the start-up routine, the scanner may come onlineand may be used to run a calibration routine, an auditing routine, etc.Alternatively, one or more events may trigger a similar routine to run.For example, when the mailslot is removed and replaced, when any CRU isremoved and replaced, when a diagnostic routine is initiated, when anaudit routine is initiated, etc., a scanner routine may occur.

At stage 908, the spot scanner may run through a self test routine. Theroutine may involve any steps for testing the functioning of thescanner. Some embodiments measure the internal reflectance of thescanner in free air to confirm that the scanner is operational. Otherembodiments measure light-dark contrast, received signal amplitude, edgedetection, and/or other functions with respect to a control surface orcontrol geometric feature.

Spot scanner model data can be loaded (e.g., to the processor orcontroller) at stage 912. This data may be stored, for example infirmware, in association with the particular spot scanner and/or withthe spot scanner installation (e.g., the hand assembly with which thespot scanner is integrated), and the data may have been generated andstored as part of an initial calibration sequence. During manufacturingand assembly, parameters of the spot scanner can be measured, tested,recorded, etc. In one embodiment, the hand assembly is moved to aprecise physical location and orientation, and a dual position sensor(DPS) is used to measure the precise location and orientation of thespot scanner. In this way, any minor variance in the location ororientation of the spot scanner relative to nominal values can bedetected and recorded for later use in calibration. Similar physicalcalibration of the spot scanner can be performed using other techniques.For example, a “barn door” technique can be used by providing areference opening of a particular location, width, etc., and sweepingthe spot scanner across the opening to determine any difference betweenthe expected and measured locations of the opening's features.Alternatively, the spot scanner position can be manually adjusted incertain implementations using adjustment features (e.g., screws, etc.)to make slight modifications to the position and/or orientation of thespot scanner. Any other useful data can be recorded for futurecalibration and the like. For example, embodiments can load datarelating to internal reflectance of the spot scanner in free air,light-dark contrast volts, brightness quotient (e.g., a value thatindicates the effective brightness of the scanner), noise signal (e.g.,a jitter parameter), etc. In some implementations, a spot scannerprofile is generated at stage 916 according to the data from stages 908and 912. For example, data generated in stage 908 can be used tovalidate and/or adjust data read in at stage 912.

Having initialized the scanner with its associated scanner properties,the scanner is now ready for use in providing scanning functionality atstage 920. At stage 924, a spot scanner job request is received. Therequest may be issued by a user of the data storage system. For example,a request to retrieve a media cassette may involve one or more uses ofthe scanner to help locate and/or identify the media cassette; or arequest to run an audit routine may involve multiple uses of the scannerto target and/or validate locations, detect empty magazine cells,inventory installed media cassettes, etc. Alternatively, the request maybe issued as part of an automated process, for example, as part of aperiodic self-test or audit routine.

At stage 928, a determination is made as to what type of request isreceived at stage 924. As illustrated, embodiments may broadly classifyrequests as topography-related requests and contrast-related requests.Performance of stage 928 may involve interpreting the request todetermine whether it is topography-related or contrast-related. Forexample, a request to find and audit a magazine slot location may beinterpreted as a topography-related request, while a request to identifya media cassette by its barcode may be interpreted as a contrast-relatedrequest. If it is determined at stage 928 that the request istopography-related, one or more topographic scans may be performed usingthe spot scanner in response to the request at stage 940. If it isdetermined at stage 928 that the request is contrast-related, one ormore contrast scans may be performed using the spot scanner in responseto the request at stage 950. Embodiments of topographic scans andcontrast scans are described more fully below with reference to FIGS. 10and 10, respectively.

FIG. 10 shows a flow diagram of an illustrative method 940′ forperforming topographic spot scanning, according to various embodiments.The method 940′ may illustrate some embodiments of stage 940 of FIG. 9.For example, a controller of the data storage system may direct scanningof some or all alignment targets in the system environment. Embodimentsbegin at stage 1004 by acquiring target model properties. The targetmodel properties may include any useful data for modeling the targets,for example, including model target types, model target geometricalcharacteristics, model target locations, etc. In some embodiments, acell map is maintained that includes the types and locations (e.g.,target center or edge coordinates) for all targets in the data storagesystem. Various target types are possible, including, for example,magazine targets (e.g., targets integrated into the magazine design tohelp locate the hand assembly with respect to the magazine), access porttargets (e.g., targets specific to the mail slot or other access portsof the data storage system), media drive targets (e.g., targets used tolocate media drives, media drive slots, etc.), and/or others. Eachtarget type may have one or more associated geometric characteristics.For example, each target type may be associated with a target width, atarget height, a target depth, a target focus distance, a target surfacetexture parameter, a target color parameter, a target scheme (e.g.,dark-light-dark, light-dark-light, etc.), a model topographic profile(e.g., a two-dimensional or three-dimensional shape of some or all ofthe target), etc.

At stage 1008, scanner settings are acquired. The scanner settings mayinclude some or all of the scanner settings from the spot scannerprofile generated at stage 916 of FIG. 9. In some embodiments, thescanner properties are acquired and/or adjusted according to the targetmodel properties acquired in stage 1004. For example, better results maybe obtained from the topographic scan for different types of targets inrelation to the transmission source brightness, direction in which thetransmission source is pointed, speed at which the scanner is moved,sample rate at which data is collected, etc.

A scan window is determined at stage 1012 according to target modelproperties and scanner settings. In one illustrative case, the scanwindow is set to be a full range of motion across a magazine (e.g., afull range of X locations). In another illustrative case, the scanwindow is set to be a certain margin on either side of the model targetlocation. The scan window can be set in any useful way. At stage 1016,the spot scanner is swept across the scan window to obtain rawtopographical data. For example, the hand assembly is positioned andpointed so that the spot scanner is pointing in a desired direction atone edge of the scan window, and the hand assembly is driven so as tosweep the spot scanner to the other extent of the scan window.

The raw topographical data can be obtained under many differentconditions, according to different scanner settings. For example, asdescribed above, the spot scanner may be swept across the scan window ata particular scan speed, and the raw topographical data may be recordedat a particular sampling rate, as dictated by various scanner settings.In some implementations, one or more scanner settings can be dynamicallychanged or changed according to feedback during the scanning process.For example, as raw topographical data is collected, the scan speedand/or sampling rate can be dynamically adjusted to maintain a datadensity or to increase data density around certain geometric features.Some scanner settings dictate how scanning will take place within thescan window. For example, a horizontal scan move start and/or finishpoint can be set to determine the extents of the sweep (e.g., the startand end points of the scan window); a vertical scan move start point canbe set to determine a Z-location at which the sweep will begin; a “trippoint” can be set to determine how far after the sweep begins to beginsampling data; etc. In some embodiments, a sweep pattern and/or a pathis set. For example, collection of raw topographical data by the spotscanner may involve sweeping across the scan window multiple times atthe same Z-position in the same or different directions, sweeping acrossthe scan window multiple times at different Z-positions in the same ordifferent directions, sweeping across the scan window one or more timesin one or more directions along the defined path having a varyingZ-position, etc. Some scanner settings affect the manner in which thetarget surface (e.g., geometric feature, etc.) is illuminated by thespot scanner transmitter and/or the manner in which reflected radiationis captured by the spot scanner receiver. For example, a drive voltagecan be adjusted to affect the brightness of the laser being used as partof a VCSEL spot scanner transmitter. Alternatively or additionally, thescan angle can be set (e.g., by adjusting a wrist angle for the handassembly), which may optimize the level of glare, the amplitude of thereturn signal, and/or other characteristics of the signal. For example,for topographic scans, it may be desirable to illuminate the targetsurface at a maximum level in order to optimally detect features atdifferent depths, particularly for implementations in which the spotscanner has a fixed (or substantially fixed) focal length. Someimplementations include features that are designed specifically toreflect or deflect (e.g., scatter, absorb, etc.) radiation from the spotscanner, as desired.

As discussed above, some embodiments set some or all of the scannersettings according to the type or types of targets expected in the scanwindow. For example, some magazine targets are designed in asubstantially rectangular fashion having a long axis and a short axiswith the long axis pointing vertically. In this orientation, it will beappreciated that the target is more likely to be detected when scanningacross the long axis (e.g., in a scan direction that is orthogonal tothe long axis) than when scanning across the short axis. Accordingly,location of such a magazine target may involve setting the scanner tosweep in a horizontal direction first to effectively find the verticaledges of the rectangle, then to sweep in a vertical direction at ahorizontal location that is between the vertical edges found in theprevious scan to effectively find the horizontal edges of the rectangle.Using techniques such as the above, the size of the scan window, scanspeed, etc. can be optimized, for example, to speed up target locationand/or other functionality.

The raw topographical data can be recorded in any useful way. In someimplementations, the raw topographical data is a binary file of samplesrepresenting a voltage output from the spot scanner receiver versus scansampling times. Each sample may effectively indicate a depth at alocation. At stage 1020, the raw topographical data is decoded togenerate the target profile. In some embodiments, one or more filtersare used on the topographical data to process the data for analysis. Forexample, a high-frequency filter may be applied to the raw topographicaldata to smooth the data (e.g., to get rid of spikes in the data).Similarly data recorded as a function of scan time may be converted toreflect scan position or distance, for example, by multiplying scanvelocity at that time. Some embodiments interpret the data to generate aseries of threshold values that divides the voltage data into bright anddark pattern areas. The bright and dark pattern areas may be recorded astwo brightness levels in some implementations (i.e., “bright” or “dark”)or as gradations of brightness levels in other implementations (e.g., abrightness level on a scale from 1 to 5). Many other types of processingare possible, including, for example, application of various types ofstatistics, grouping, sorting, and/or filtering the data in variousways, etc. As illustrated, some embodiments iterate, when desired, usingthe same or different decoder settings in an attempt to converge on asolution or otherwise improve the decoding.

It will be appreciated that the sampling and processing may be performeddifferently according to different system implementations. For example,some systems are implemented with one or more levels of buffering morecaching to allow some raw topographical data to be post-processed whileother raw topographical data continues to be collected. Other systemsmay be implemented in such a way that the raw topographical data isstored in volatile or non-volatile storage for later post-processing.Further, the data may be collected and/or post-processed in differentways depending on the intended use of the data. For example, data may begathered differently if the goal is to use the data to accuratelycalibrate the location of the hand assembly according to an edge of atarget than if the goal is to use the data to topographically map aregion for target recognition purposes. As described above, someimplementations use multiple scan passes (e.g. in the same or differentdirections, at the same or different Z-locations, at the same ordifferent scan angle, etc.) to collect data. In these implementations,processing of the data at stage 1020 can involve combining the variousdata sets from the various scan passes according to one or moretechniques. For example, scan passes may be independently processed toyield solutions which are then compared to determine or generate a mostvalid solution. Alternatively, data from multiple scan passes can beprocessed together to increase the statistical significance of certainresults.

At stage 1024, embodiments validate the target profile against thetarget model properties. While certain validation of the rawtopographical data and/or post-processed topographical data may beperformed during stage 1020, the data is further validated in stage 1024against other types of data, such as expected values according to targetmodel properties. In one illustrative use case, the target modelproperties include a model target center point, which is comparedagainst a target center point calculated from the processedtopographical data. This technique can be used to validate the locationof a target according to a cell map. Any variation between the expectedlocation and the calculated (detected) location may suggest a variancein the position of the target context (e.g., the magazine), a variancebetween expected and actual locations of the hand assembly, amanufacturing variance or error in the target itself, other system orcomponent level calibration errors, etc. Other scans of the same orother features can be used to determine which of these possibilitiescontributed to the variation.

Many types of targets or other geometric features are possible,depending on the context. For example, in the context of an illustrativedata storage system, targets may be categorized generally into fourcategories: media cartridge targets, magazine targets, mail slottargets, and media drive targets. Media cartridge targets may include,for example, a write-lock switch, media cartridge notches or edgefeatures, etc. Magazine targets may include, for example, targets thatidentify edges of the magazine, slot locations within the magazine, etc.Mail slot targets may be different from, similar to, or identical tomagazine targets. For example, it may be desirable to include a mailslot target that accurately locates a latch by which the robot handassembly can release the mail slot for external access by user. Mediadrive targets may include, for example, targets that identify edges ofthe media drive, edges of the media drive slot, and/or other features.Any other feature can be designed in such a way that is recognizable asa target. In some embodiments, each target type is associated with oneor more geometric characteristics. For example, each target may beassociated with one or more of a target width, a target height, a targetfocus distance (e.g., depth), a target surface texture parameter, atarget color parameter, a target scheme (e.g., dark-light-dark,light-dark-light, etc.), etc.

Decoding at stage 1024 can include validation or recognition of targettypes and/or their associated geometric characteristics. In one example,processed topographical data is used to determine a calculated targetwidth, which is compared against an expected target width from thetarget model properties either to validate the reliability of thedetected target or to determine which type of target was detected. Inanother example, a number of width solutions are compared against amodel target width to determine how many of the width solutions arewithin some threshold of the model target width, which may indicate areliability of the detection. In yet another example, a recordedpeak-to-peak voltage of the received and processed topographical data(e.g. and/or a “volts at solution” calculation) can be validated againstthe model target focus distance, or the like, to help validate thereliability of the detection.

For the sake of illustration, it is desirable to detect the presence ofthe media cartridge in a particular magazine slot location. The scanneris instructed to sweep across a scan window in a location where awrite-lock switch of the media cartridge in that particular slotlocation would be if the media cartridge is present improperly installedin the magazine. One possible scan result would indicate topologicallythat no cartridges present at all in that slot location (e.g., thedetected depth over the scan window suggests an empty slot). Anotherpossible scan result would indicate topologically that the write-lockswitch is present in its expected location, further indicating thepresence and proper installation of the media cartridge in the slotlocation. Yet another possible scan result would indicate detection ofthe surface at approximately the expected depth, but without theexpected geometric profile of the write-lock switch. This may indicate,for example, that the cartridges present but improperly installed (e.g.,upside down, etc.).

At stage 1028, a determination is made as to whether the target is validaccording to stage 1024. It will be appreciated from the above thattargets may be considered valid in different ways, for example, when thetarget has detected geometric characteristics that match its modeltarget properties within some threshold, when the target is one thatcould be detected and/or recognized to some threshold certainty level,etc. If the target is determined to be valid the validated targetprofile can be output as a scan results at stage 1032. The validatedtarget profile can be output in any useful way. For example, the outputmay simply indicate that the scanned target is “valid” or that the scanwas “successful”; the output may include calculated values from thetopographical data, such as calculated center points, target widths,etc.; the output include a topographical profile (e.g., a topographicalmap) of some or all of the scan window; etc. A further determination maythen be made at stage 1036 as to whether more targets remain to bescanned as part of the method 940′. For example, the topographic scanmay include scanning of multiple targets and/or of the same targetmultiple times in the same or different ways, etc. If more targetsremain to be scanned, embodiments of the method 940′ return to stage1004 for further scanning. If no more targets remain to be scanned,embodiments of the method 940′ end at stage 1040.

If, at stage 1028, it is determined that the detected target is invalidor the target detection was unsuccessful, some embodiments attempt torescan with different settings. At stage 1044, a determination is madeas to whether more settings are available to try. A particular sequenceof variables may be available to try and different orders and/or to bechanged by different amounts. For example, predetermined adjustments maybe made to transmitter brightness level, scan angle, horizontal and/orvertical scan position, scan direction, sample rate, scan speed, etc. Ifadditional settings are available to try, the scanner settings may beadjusted accordingly at stage 1048, and embodiments may return to stage1016 with those adjusted settings. If no additional settings areavailable to try, embodiments may output an error indication at stage1052. For example, an error flag may be set to indicate that the scanwas unsuccessful, but the target was invalid, that the target could notbe detected, etc. In some embodiments, additional user input is allowedor required. For example, the user may be prompted to manually adjustscanner settings for additional attempts at detecting the target, or toprovide additional instructions as to how to proceed. Embodiments mayend the method 940′ at stage 1040.

FIG. 11 shows a flow diagram of an illustrative method 950′ forperforming contrast spot scanning, according to various embodiments. Themethod 950′ may illustrate some embodiments of stage 950 of FIG. 9. Forexample, a controller of the data storage system may direct scanning ofone or more cartridge labels in the system environment. Embodimentsbegin at stage 1104 by acquiring label model properties. The label modelproperties may include any useful data for modeling the labels, forexample, including model label types, model label geometricalcharacteristics, model label locations, etc. In some embodiments, a cellmap is maintained that includes the types and locations (e.g., labelcenter or edge coordinates) for all labels in the data storage system.Various label types are possible, including, for example, barcode labels(e.g., 3-of-9 format, standard-size barcode labels), single characterlabels, “quick response” (QR) code labels, and/or others. Each labeltype may have one or more associated geometric characteristics. Forexample, each label type may be associated with a label width (e.g., alabel usable width), a label height (e.g., a label usable height), alabel location relative to another feature (e.g., location of one ormore label edges relative to one or more cartridge edges), a label (orsensor) focus distance, a label surface texture parameter, a labelcontrast quotient (e.g., characterizing the amount of contrast betweendifferent symbol characteristics, like light versus dark bars), a labelcolor parameter, a label code scheme (e.g., barcode format, QR codeformat, etc.), etc.

At stage 1108, scanner settings are acquired. The scanner settings mayinclude some or all of the scanner settings from the spot scannerprofile generated at stage 916 of FIG. 9. In some embodiments, thescanner properties are acquired and/or adjusted according to the labelmodel properties acquired in stage 1104. For example, better results maybe obtained from the contrast scan for different types of labels inrelation to the transmission source brightness, direction in which thetransmission source is pointed, speed at which the scanner is moved,sample rate at which data is collected, etc. In some embodiments,similar or identical scanner settings are used for the contrast scan asthose used for the topologic scan described above with reference to FIG.10. In other embodiments, the scanner settings are specificallyoptimized to facilitate contrast scanning. For example, as discussedabove, the scanner may be oriented to reduce glare for high-contrastlabels.

A scan window is determined at stage 1112 according to label modelproperties and scanner settings. In one illustrative case, the scanwindow is set to be a full range of motion across a magazine (e.g., afull range of X locations). In another illustrative case, the scanwindow is set to be a certain margin on either side of the model labellocation (e.g., the full extent of a particular magazine slot location,the full extent of a cartridge dimension, a window calculated accordingto label center location and label usable width, etc.). The scan windowcan be set in any useful way.

In some embodiments, additional information is obtained using topologicscanning techniques. At stage 1114, location information can be obtained(e.g. validated, identified, generated, etc.) by using the same oranother spot scanner to perform a topographic scan. For example, thetopographic scan can be used to find whether a cartridge is present in aparticular magazine slot location, whether the cartridge is orientedcorrectly (e.g. whether it is installed right side up), etc.Alternatively, some or all of this information can be obtained from thecontrast scanning itself. For example, it may be possible using contrastscanning techniques to develop a contrast profile that can indicate thatno cartridges present, that a label is upside down, they cartridgespresent with no label, etc. As discussed above, the same spot scannercan be used for both topologic scanning and contrast scanning accordingto some embodiments. Accordingly, some implementations can exploit thisdual functionality in serial, parallel, or other ways. For example,topologic scanning functionality of a spot scanner can be used to locatecertain geometric features from which the location of a label can bederived; and contrast scanning functionality of the same spot scannercan then be used to read the label.

At stage 1116, the spot scanner is swept across the scan window toobtain raw contrast data. The raw contrast data can be obtained undermany different conditions, according to different scanner settings. Forexample, as described above, the spot scanner may be swept across thescan window at a particular scan speed, and the raw contrast data may berecorded at a particular sampling rate, as dictated by various scannersettings. In some implementations, one or more scanner settings can bedynamically changed or changed according to feedback during the scanningprocess. For example, as raw contrast data is collected, the scan speedand/or sampling rate can be dynamically adjusted to maintain a datadensity or to increase data density as symbol density increases orrelative contrasts decrease.

Some scanner settings dictate how scanning will take place within thescan window. For example, a horizontal scan move start and/or finishpoint can be set to determine the extents of the sweep (e.g., the startand end points of the scan window); a vertical scan move start point canbe set to determine a Z-location at which the sweep will begin; a “trippoint” can be set to determine how far after the sweep begins to beginsampling data; etc. In some embodiments, a sweep pattern and/or a pathis set. For example, collection of raw contrast data by the spot scannermay involve sweeping across the scan window multiple times at the sameZ-position in the same or different directions, sweeping across the scanwindow multiple times at different Z-positions in the same or differentdirections, sweeping across the scan window one or more times in one ormore directions along the defined path having a varying Z-position, etc.For example, the same barcode may be read more accurately at a slightlydifferent Z-location due to glare issues, damage to the label, bubblesin the label application, etc. Some scanner settings affect the mannerin which the label surface (e.g., barcode, etc.) is illuminated by thespot scanner transmitter and/or the manner in which reflected radiationis captured by the spot scanner receiver. For example, a drive voltagecan be adjusted to affect the brightness of the laser being used as partof a VCSEL spot scanner transmitter. Alternatively or additionally, thescan angle can be set (e.g., by adjusting a wrist angle for the handassembly), which may optimize the level of glare, the amplitude of thereturn signal, and/or other characteristics of the signal to account fordifferent types of labels.

The raw contrast data can be recorded in any useful way. In someimplementations, the raw contrast data is a binary file of samplesrepresenting a voltage output from the spot scanner receiver versus scansampling times. Each sample may effectively indicate a brightness levelat a location. At stage 1120, the raw contrast data is decoded togenerate the label profile. Various filters may be used to process thedata for analysis. In some embodiments, different filters are applied atdifferent times to produce different output for different processingpurposes. For example, a low pass filter may be used to smooth outspikes and data to allow for easier calculations of variance, and thelike. High pass filters may additionally or alternatively be used, forexample, to nominalize all voltages around a threshold line (e.g., 0 V).As illustrated, some embodiments iterate, when desired, using the sameor different decoder settings in an attempt to converge on a solution orotherwise improve the decoding.

According to some embodiments, at stage 1122, a determination is made asto whether a cartridge and/or a label this present at all prior toattempting to read the label. In some implementations, a low pass filteris applied to the data and experience value of the data is calculated(e.g., around a mean value). Variances below a predetermined noiseparameter may indicate an empty cell condition (i.e., where nocartridges present), while variances above the same or a different noiseparameter may indicate that a cartridges present. In some cases, thevariance values can be used to determine, not only whether a cartridgespresent, but whether a label is present on the cartridge. Accordingly,in one illustrative embodiment, there may be three possible results tothe determination of stage 1122: a condition in which no cartridge (andno label) is found, a condition in which a cartridge is found apparentlywithout a label, and a condition in which a cartridge is foundapparently with a label. Various implementations may treat the nocartridge and/or no label conditions in different ways. For exampleimplementations may output an error indication (e.g., a flag, a logentry, etc.), or any other useful information. This information may beoutput as the scan result at stage 1132.

If a determination is made at stage 1122 that a label is present, anattempt may be made at stage 1124 to validate the label. While certainvalidation of the raw topographical data and/or post-processedtopographical data may be performed during stage 1120, the data isfurther validated in stage 1124 against other types of data, such asexpected values according to label model properties. For example variousimplementations may use one or more algorithms to attempt to decode thelabel contents based on the contrast data, and the label may bevalidated based on the decoded contents. In one implementation, the rawcontrast data is passed through a high pass filter, which may nominalizethe voltage values around a zero full threshold line. More reflectiveareas (e.g., higher voltages indicating white label bars of a barcode)may fall above the threshold, while less reflective areas (e.g., lowervoltages indicating black label bars of a barcode) may fall below thethreshold. Alternatively, data recorded as a function of scan time maybe converted to reflect scan position or distance, for example, bymultiplying scan velocity at that time. Some embodiments interpret thedata to generate a series of threshold values that divides the voltagedata into bright and dark pattern areas. The bright and dark patternareas may be recorded as two brightness levels in some implementations(i.e., “bright” or “dark”) or as gradations of brightness levels inother implementations (e.g., a brightness level on a scale from 1 to 5).In other embodiments, the label model properties include a model labelcenter point, which is compared against a label center point that can becalculated from the processed contrast data.

In some implementations additional calculations are used for validation,for example, to generate bar width statistics, bar type designatorsaccording to various bar type model profiles, etc. For example barcodesand/or other types of labeling schemes may have predictable orpredefined preambles, post-ambles, mid-ambles, allowed pattern widths,allowed contrast resolutions, allowed colors, etc. Many other types ofprocessing are possible, including, for example, application of varioustypes of statistics, grouping, sorting, and/or filtering the data invarious ways, etc. Additionally, validating the label may includedecoding the values (e.g., alphanumeric symbols, etc.) beingcommunicated by the label. For example, a barcode may be decoded toretrieve alphanumeric results, to look for bad characters, to look forincorrect label formatting, etc.

It will be appreciated that the sampling and processing may be performeddifferently according to different system implementations. For example,some systems are implemented with one or more levels of buffering morecaching to allow some raw contrast data to be post-processed while otherraw contrast data continues to be collected. Other systems may beimplemented in such a way that the raw contrast data is stored involatile or non-volatile storage for later post-processing. Further, thedata may be collected and/or post-processed in different ways dependingon the intended use of the data. As described above, someimplementations use multiple scan passes (e.g. in the same or differentdirections, at the same or different Z-locations, at the same ordifferent scan angle, etc.) to collect data. In these implementations,processing of the data at stage 1120 can involve combining the variousdata sets from the various scan passes according to one or moretechniques. For example, scan passes may be independently processed toyield solutions which are then compared to determine or generate a mostvalid solution. Alternatively, data from multiple scan passes can beprocessed together to increase the statistical significance of certainresults.

At stage 1128, a determination is made as to whether the label is validaccording to stage 1124. It will be appreciated from the above thatlabels may be considered valid in different ways, for example, when theyare present, properly oriented, and have valid identification data. Ifthe label is determined to be valid the validated label profile can beoutput as a scan results at stage 1132. The validated label profile canbe output in any useful way. For example, the output may simply indicatethat the scanned label is “valid” or that the scan was “successful”; theoutput may include calculated values from the topographical data, suchas calculated center points, label widths, etc.; the output include acontrast profile (e.g., a contrast map) of some or all of the scanwindow; etc. A further determination may then be made at stage 1136 asto whether more labels remain to be scanned as part of the method 950′.For example, the contrast scan may include scanning of multiple labelsand/or of the same label multiple times in the same or different ways,etc. If more labels remain to be scanned, embodiments of the method 950′return to stage 1104 for further scanning. If no more labels remain tobe scanned, embodiments of the method 950′ end at stage 1140.

If, at stage 1128, it is determined that the detected label is invalidor the label detection was unsuccessful, some embodiments attempt torescan with different settings. At stage 1144, a determination is madeas to whether more settings are available to try. A particular sequenceof variables may be available to try and different orders and/or to bechanged by different amounts. For example, predetermined adjustments maybe made to transmitter brightness level, scan angle, horizontal and/orvertical scan position, scan direction, sample rate, scan speed, etc. Ifadditional settings are available to try, the scanner settings may beadjusted accordingly at stage 1148, and embodiments may return to stage1116 with those adjusted settings. If no additional settings areavailable to try, embodiments may output an error indication at stage1152. For example, in error flag may be set to indicate that the scanwas unsuccessful, but the label was invalid, that the label could not bedetected, etc. In some embodiments, additional user input is allowed orrequired. For example, the user may be prompted to manually adjustscanner settings for additional attempts at detecting the label, or toprovide additional instructions as to how to proceed. Embodiments mayend the method 950′ at stage 1140.

The methods disclosed herein comprise one or more actions for achievingthe described method. The method and/or actions may be interchanged withone another without departing from the scope of the claims. In otherwords, unless a specific order of actions is specified, the order and/oruse of specific actions may be modified without departing from the scopeof the claims.

The various operations of methods and functions of certain systemcomponents described above may be performed by any suitable meanscapable of performing the corresponding functions. The means may includevarious hardware and/or software component(s) and/or module(s),including, but not limited to a circuit, an application specificintegrated circuit (ASIC), or processor. For example, logical blocks,modules, and circuits described may be implemented or performed with ageneral purpose processor, a digital signal processor (DSP), an ASIC, afield programmable gate array signal (FPGA), or other programmable logicdevice (PLD), discrete gate, or transistor logic, discrete hardwarecomponents, or any combination thereof designed to perform the functionsdescribed herein. A general purpose processor may be a microprocessor,but in the alternative, the processor may be any commercially availableprocessor, controller, microcontroller, or state machine. A processormay also be implemented as a combination of computing devices, e.g., acombination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration.

The steps of a method or algorithm or other functionality described inconnection with the present disclosure, may be embodied directly inhardware, in a software module executed by a processor, or in acombination of the two. A software module may reside in any form oftangible storage medium. Some examples of storage media that may be usedinclude random access memory (RAM), read only memory (ROM), flashmemory, EPROM memory, EEPROM memory, registers, a hard disk, a removabledisk, a CD-ROM and so forth. A storage medium may be coupled to aprocessor such that the processor can read information from, and writeinformation to, the storage medium. In the alternative, the storagemedium may be integral to the processor. A software module may be asingle instruction, or many instructions, and may be distributed overseveral different code segments, among different programs, and acrossmultiple storage media. Thus, a computer program product may performoperations presented herein. For example, such a computer programproduct may be a computer readable tangible medium having instructionstangibly stored (and/or encoded) thereon, the instructions beingexecutable by one or more processors to perform the operations describedherein. The computer program product may include packaging material.Software or instructions may also be transmitted over a transmissionmedium. For example, software may be transmitted from a website, server,or other remote source using a transmission medium such as a coaxialcable, fiber optic cable, twisted pair, digital subscriber line (DSL),or wireless technology such as infrared, radio, or microwave.

Other examples and implementations are within the scope and spirit ofthe disclosure and appended claims. For example, features implementingfunctions may also be physically located at various positions, includingbeing distributed such that portions of functions are implemented atdifferent physical locations. Also, as used herein, including in theclaims, “or” as used in a list of items prefaced by “at least one of”indicates a disjunctive list such that, for example, a list of “at leastone of A, B, or C” means A or B or C or AB or AC or BC or ABC (i.e., Aand B and C). Further, the term “exemplary” does not mean that thedescribed example is preferred or better than other examples.

Various changes, substitutions, and alterations to the techniquesdescribed herein can be made without departing from the technology ofthe teachings as defined by the appended claims. Moreover, the scope ofthe disclosure and claims is not limited to the particular aspects ofthe process, machine, manufacture, composition of matter, means,methods, and actions described above. Processes, machines, manufacture,compositions of matter, means, methods, or actions, presently existingor later to be developed, that perform substantially the same functionor achieve substantially the same result as the corresponding aspectsdescribed herein may be utilized. Accordingly, the appended claimsinclude within their scope such processes, machines, manufacture,compositions of matter, means, methods, or actions.

What is claimed is:
 1. A system for topographic targeting in a datastorage system, the system comprising: a spot scanner coupled with acarriage configured to sweep the spot scanner in a scan direction toacquire raw topographic data indicating a depth at each of a pluralityof locations within a scan window; a processor, in communication withthe spot scanner, and configured to: receive a request for topographicscanning of a target; acquire a target model according to the request;acquire scanner settings associated with the target model; and directthe spot scanner to acquire the raw topographic data according to therequest and according to the scanner settings; a decoder, incommunication with the processor, and configured to: decode the rawtopographic data to generate a target profile for a purported targetwithin the scan window, the target profile comprising a scanned targettype and scanned target location; and determine whether the targetprofile is valid according to the target model; and a target profilestore, in communication with the decoder, and configured to store averified target record for the target including the scanned target typeand the scanned target location of the purported target when the targetprofile is valid according to the target model.
 2. The system of claim1, wherein the processor is further configured, when the target profileis not valid according to the target model, to: adjust the scannersettings; and direct the spot scanner to acquire the raw topographicdata again according to the adjusted scanner settings.
 3. The system ofclaim 1, wherein: the target model includes a model target type; and thedecoder is configured to determine whether the target profile is validaccording to the target model at least by verifying the scanned targettype against the model target type.
 4. The system of claim 1, wherein:the target model includes a plurality of model target types; and thedecoder is configured to decode the raw topographic data at least bydetermining the scanned target type as one of the plurality of modeltarget types as a function of the raw topographic data.
 5. The system ofclaim 1, further comprising: a driver, coupled with the carriage, andconfigured to move and rotate the carriage, wherein the processor isfurther configured to direct the spot scanner to acquire the rawtopographic data by performing steps comprising: directing the driver torotate the carriage in an orientation that points the spot scanner in adetection direction that is not orthogonal to the scan direction; anddirecting the driver to move the carriage in the scan direction so as tosweep the spot scanner in the scan direction while maintaining thecarriage in the orientation.
 6. The system of claim 1, wherein thescanner settings identify one or more of a scanner movement speed, ascanner sampling rate, a scanner trip point, a horizontal scan startpoint, a vertical scan start point, a scan angle, or a laser brightness.7. The system of claim 1, wherein the target model identifies one ormore of a target width, a target height, a target focus distance, atarget surface texture parameter, a target color parameter, or a targettopology map.
 8. The system of claim 1, wherein the scanned target typeis selected from the group consisting of: a magazine target; an accessport target; and a media drive target.
 9. The system of claim 1, whereinthe spot scanner is a zero-dimensional scanner.
 10. The system of claim1, wherein the spot scanner comprises a vertical-cavity surface-emittinglaser (VCSEL).
 11. A method for topographic targeting in a data storagesystem, the method comprising: acquiring a target model and expectedtarget location; generating a scan window according to the expectedtarget location; sweeping a spot scanner across the scan window toacquire raw topographic data indicating a depth at each of a pluralityof locations within the scan window; decoding the raw topographic datato generate a target profile for a target within the scan window, thetarget profile comprising a scanned target type and scanned targetlocation; determining whether the target profile is valid according tothe target model; and storing, when the target profile is validaccording to the target model, a verified target record for the targetincluding the scanned target type and the scanned target location. 12.The method of claim 11, further comprising: acquiring scanner settingsassociated with the target model, wherein the spot scanner is sweptacross the scan window and/or the raw topographic data is acquiredaccording to the scanner settings.
 13. The method of claim 12, furthercomprising, when the target profile is not valid according to the targetmodel: adjusting the scanner settings; and re-sweeping the spot scanneracross the scan window to acquire second raw topographic data accordingto the adjusted scanner settings.
 14. The method of claim 11, whereindetermining whether the target profile is valid according to the targetmodel comprises verifying the scanned target location against theexpected target location.
 15. The method of claim 11, wherein: thetarget model includes a model target type; and determining whether thetarget profile is valid according to the target model comprisesverifying the scanned target type against the model target type.
 16. Themethod of claim 11, wherein: the target model includes a plurality ofmodel target types; and decoding the raw topographic data comprisesdetermining the scanned target type as one of the plurality of modeltarget types as a function of the raw topographic data.
 17. The methodof claim 11, wherein: sweeping the spot scanner across the scan windowcomprises sweeping the spot scanner across a range of X-positions in thescan window at a plurality of Z-positions to acquire a plurality of setsof raw topographic data; and decoding the raw topographic data comprisesgenerating a three-dimensional target profile for the target within thescan window.
 18. The method of claim 11, further comprising: orientingthe spot scanner to point in a detection direction prior to the sweepingstep, wherein sweeping the spot scanner comprises moving the spotscanner in a scan direction that is not orthogonal to the detectiondirection.
 19. The method of claim 18, wherein orienting the spotscanner to point in the detection direction provides a maximumillumination of the target.
 20. The method of claim 11, furthercomprising: orienting the spot scanner to point in a detection directionprior to the sweeping step, wherein the spot scanner comprises atransmitter oriented so that, when the spot scanner is pointing in thedetection direction, the transmitter points in a transmission directionthat differs from the detection direction by an angle, and orienting thespot scanner to point in the detection direction orients thetransmission direction to point substantially orthogonal to the scandirection.